Mitsubishi Electric A172SHCPUN User Manual (English)

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MOTION CONTROLLER

(SV13/22)

(REAL MODE)

Programming Manual

type A172SHCPUN,A171SHCPUN

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Table of Contents11
General Description15
System Configuration17
A172SHCPUN/A171SHCPUN System Overall Configuration17
System Configuration Precautions18
Table of Software Package20
Positioning Control by the Servo System CPU21
Performance Specifications29
SCPU Performance Specifications29
PCPU Performance Specifications31
Differences between A172SHCPUN/A171SHCPUN and A171S(S3)33
Positioning Signals34
Internal Relays35
Axis Status38
Axis Command Signals46
Common Devices62
Monitoring Data Area63
Special Relays (SP.M)74
Special Registers (SP.D)77
Parameters for Positioning Control85
System Settings85
Fixed Parameters86
Setting the Number of Pulses Per Revolution/Travel Value Per Revolution/Unit Magnification87
Upper Stroke Limit Value/Lower Stroke Limit Value89
Command In-Position Range90
Servo Parameters90
MR- -B Servo Parameters91
Position Control Gain 1, 296
Speed Integral Compensation98
In-Position Range98
Feed Forward Gain98
Load Inertia Ratio99
Automatic Tuning99
Servo Responsiveness Setting100
Notch Filter101
Electromagnetic Brake Sequence101
Monitor Output Mode101
Optional Function 1101
Optional Function 2102
Monitor Output 1, 2 Offset103
Pre-Alarm Data Selection103
Zero Speed104
Excessive Error Alarm Level104
Optional Function 5104
PI-PID Switching Position Droop104
Torque Control Compensation Factor104
Speed Differential Compensation104
Parameter Block105
Relationships Among the Speed Limit Value, Acceleration Time107
Deceleration Time, and Rapid Stop Deceleration Time107
S-Curve Ratio107
Allowable Error Range for Circular Interpolation108
Sequence Programs and Sfc Programs109
Cautions on Creating a Sequence Program or SFC Program109
Servo Program Start Request Instruction (DSFRP/SVST)110
Start Request Instruction for 1 to 3 Axes (DSFRP)110
Start Request Instruction for 1 to 4/1 to 8 Axes (SVST)113
Current Value Change Instructions (DSFLP/CHGA)116
DSFLP Instruction116
CHGA Instruction119
Speed Change Instructions (DSFLP/CHGV)122
DSFLP Instruction122
CHGV Instruction125
Retracing During Positioning128
Torque Limit Value Change Request (CHGT)131
SFC Program133
Starting and Stopping SFC Programs133
Servo Program Start Request134
Servo Programs for Positioning Control138
Servo Program Composition and Area138
Servo Program Composition138
Servo Program Area139
Servo Instructions140
Positioning Data144
Method for Setting Positioning Data148
Setting by Designating Numerical Values148
Setting by Using Word Devices (D, W)149
Creating Sequence Programs to Start Servo Programs150
Case Where the Servo Program Is Executed Once Only150
Case Where Different Servo Programs Are Executed Consecutively151
Case Where the same Servo Program Is Executed Repeatedly152
Basics of Positioning Control153
Positioning Speed153
Positioning Speed under Interpolation Control154
Control Units for 1-Axis Positioning Control159
Control Units for Interpolation Control159
Control Using Degrees as Control Units161
Stop Processing and Restarting after a Stop163
Acceleration and Deceleration Processing169
1-Axis Linear Positioning Control170
2-Axes Linear Interpolation Control175
3-Axes Linear Interpolation Control179
4-Axes Linear Interpolation Control184
Circular Interpolation Using Auxiliary Point Designation188
Circular Interpolation Using Radius Designation192
7.8 Circular Interpolation Using Center Point Designation198
7.9 1-Axis Fixed-Pitch Feed Control203
Fixed-Pitch Feed Control Using 2-Axes Linear Interpolation206
Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation209
Speed Control (I)212
Speed Control (II)216
Speed/Position Switching Control219
Starting Speed/Position Switching Control219
Restarting Speed/Position Switching Control226
Speed-Switching Control231
Starting Speed-Switching Control, Speed-Switching Points, End Designation231
Setting Speed-Switching Points Using Repeat Instructions237
Constant-Speed Control242
Setting Pass Points Using Repeated Instructions246
Speed Switching During Instruction Execution251
1-Axis Constant-Speed Control255
2- to 4-Axes Constant-Speed Control259
Pass Point Skip Function266
FIN Signal Wait Function268
Position Follow-Up Control270
Simultaneous Start274
JOG Operation277
JOG Operation Data277
Individual Start278
Simultaneous Start281
Manual Pulse Generator Operation283
Zeroing289
Zeroing Data289
Zeroing by the Proximity Dog Method291
Zeroing by the Count Method293
Zeroing by the Data Set Method294
Zeroing Servo Program295
High-Speed Oscillation297
Auxiliary and Applied Functions300
Limit Switch Output Function300
Limit Switch Output Data300
M-Code Output Function302
Backlash Compensation Function304
Torque Limit Function306
Electronic Gear Function308
Absolute Positioning System310
Skip Function313
Teaching Function314
High-Speed Reading of Designated Data315
Servo Program Cancel/Start Function316
Enhanced Current Value Control318
Appendices319
Appendix 1 Scpu Error Code List319
SCPU Error Code List319
Appendix2 Error Codes Stored by the Pcpu323
Servo Program Setting Errors (Stored in D9190)325
Minor Errors327
Major Errors334
Servo Errors337
PC Link Communication Errors344
2.6 LED Indications When Errors Occur at the PCPU345
Appendix3 Special Relays and Special Registers346
Special Relays (SP.M)346
Special Registers (SP.D)349
Appendix4 Example Programs357
Word Data 1 Word Shift to Left357
Word Data 1 Word Shift to Right359
Reading M-Codes361
Error Code Reading362
Appendix 5 Setting Range of Indirectly Designated Devices365
Appendix 6 Processing Times367

Model	A172SHCPUN
Series	MELSEC-A
Number of Extension Bases connectable	7
Basic instruction execution speed	0.2 μs
Programming Language	Ladder Diagram, Instruction List

Mitsubishi Electric A172SHCPUN Programming Manual

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